Iugaza Tom2012 - CH1-2 PDF

Theory of Machines
Dr. Anwar Abu-Zarifa . Islamic University of Gaza . Department of Mechanical Engineering . © 2012 1
Syllabus and Course Outline
Faculty of Engineering
Department of Mechanical Engineering
EMEC 3302, Theory of Machines
Instructor: Dr. Anwar Abu-Zarifa

Office: IT Building, Room: I413 Tel: 2821
eMail: aabuzarifa@iugaza.edu.ps
Website: http://site.iugaza.edu.ps/abuzarifa
Office Hrs: see my website
SAT 09:30 – 11:00 Q412
MON 09:30 – 11:00 Q412
Text Book: R. L. Norton, Design of Machinery “An Introduction to the
Synthesis and Analysis of Mechanisms and Machines”, McGraw Hill
Higher Education; 3rd edition
Reference Books:
 John J. Uicker, Gordon R. Pennock, Joseph E. Shigley, Theory of Machines

and Mechanisms
 R.S. Khurmi, J.K. Gupta,Theory of Machines
 Thomas Bevan, The Theory of Machines
 The Theory of Machines by Robert Ferrier McKay
 Engineering Drawing And Design, Jensen ect., McGraw-Hill Science, 7th
Edition, 2007
 Mechanical Design of Machine Elements and Machines, Collins ect., Wiley,
2 Edition, 2009
Grading:
Attendance 5%
Design Project 25%
Midterm 30%
Final exam 40%
Course Description:
The course provides students with instruction in the fundamentals of theory of

machines. The Theory of Machines and Mechanisms provides the foundation
for the study of displacements, velocities, accelerations, and static and
dynamic forces required for the proper design of mechanical linkages, cams,
and geared systems.
Course Objectives:
Students combine theory, graphical and analytical skills to understand

the Engineering Design. Upon successful completion of the course,
the student will be able:
 To develop the ability to analyze and understand the dynamic

(position, velocity, acceleration, force and torque) characteristics of
mechanisms such as linkages and cams.
 To develop the ability to systematically design and optimize
mechanisms to perform a specified task.
 To increase the ability of students to effectively present written,
oral, and graphical solutions to design problems.
 To increase the ability of students to work cooperatively on teams
in the development of mechanism designs.
Chapter 1
Introduction
Definitions
The subject Theory of Machines may be defined as that branch of

Engineering-science, which deals with the study of relative motion
between the various parts of a machine, and forces which act on
them. The knowledge of this subject is very essential for an
engineer in designing the various parts of a machine.
Kinematics: The study of motion without regard to forces
More particularly, kinematics is the study of position, displacement,

rotation, speed, velocity, and acceleration.
Kinetics: The study of forces on systems in motion
A mechanism: is a device that transforms motion to some desirable pattern

and typically develops very low forces and transmits little power.
A machine: typically contains mechanisms that are designed to provide

significant forces and transmit significant power.
Application of Kinematics
Any machine or device that moves contains one or more kinematic elements
such
As linkages, … gears…. belts and chains.
Bicycle is a simple example of a kinematic system that contains a chain drive

to provide Torque.
An Automobile contains many more examples of kin-systems…
the transmission is full of gears….
Chapter 2
DEGREES OF FREEDOM (MOBILITY)
Degrees of Freedom (DOF) or Mobility
• DOF: Number of independent parameters

(measurements) needed to uniquely define
position of a system in space at any instant of
time.
• A mechanical system’s mobility (M) can be
classified according to the number of degrees
of freedom (DOF).
• DOF is defined with respect to a selected frame
of reference (ground).
 Rigid body in a plane has 3 DOF: x,y,z
 Rigid body in 3D-space has 6 DOF, 3 translations & 3
rotations three lengths (x, y, z), plus three angles
(θ, φ, ρ).
 The pencil in these examples represents a rigid body,
or link.
Types of Motion
• Pure rotation: the body possesses one point (center

of rotation) that has no motion with respect to the
“stationary” frame of reference. All other points
move in circular arcs.
• Pure translation: all points on the body describe
parallel (curvilinear or rectilinear) paths.
• Complex motion: a simultaneous combination of
rotation and translation.
Excavator
Slider-Crank Mechanism
Links, joints, and kinematic chains
Linkage design:
 Linkages are the basic building blocks of all mechanisms
 All common forms of mechanisms (cams, gears, belts, chains)
are in fact variations on a common theme of linkages.
• Linkages are made up of links and joints.
• Links: rigid member having nodes

• Node: attachment points
1. Binary link: 2 nodes
2. Ternary link: 3 nodes
3. Quaternary link: 4 nodes
Joint: connection between two or more links (at their
nodes) which allows motion;
(Joints also called kinematic pairs)
Joint Classification
Joints can be classified in several ways:
1.By the type of contact between the elements, line, point, or
surface.
2.By the number of degrees of freedom allowed at the joint.
3.By the type of physical closure of the joint: either force or
form closed.
4.By the number of links joined (order of the joint).
A more useful means to classify joints (pairs) is by the

number of degrees of freedom that they allow between
the two elements joined.
A joint with more than one freedom may
also be a higher pair
• Type of contact: line, point, surface

• Number of DOF: full joint=1DOF, half joint=2DOF
• Form closed (closed by geometry) or Force closed
(needs an external force to keep it closed)
• Joint order
Joint order = number of links-1
lower pair to describe joints with surface contact
The six lower pairs
The half joint is also called a roll-slide joint
because it allows both rolling and sliding
Form closed (closed by

geometry) or Force closed
Terminology of Joints
 A joint (also called kinematic pair) is a connection between two or

more links at their nodes, which may allow motion between the links.
 A lower pair is a joint with surface contact; a higher pair is a joint with
point or line contact.
 A full joint has one degree of freedom; a half joint has two degrees
of freedom. Full joints are lower pairs; half-joints are higher pairs and
allow both rotation and translation (roll-slide).
 A form-closed joint is one in which the links are kept together form by
its geometry; a force-closed joint requires some external force to
keep the links together.
 Joint order is the number of links joined minus one (e.g. 1st order
means two links).
Kinematic chains, mechanisms,
machines, link classification
• Kinematic chain: links joined together for motion
• Mechanism: grounded kinematic chain
• Machine: mechanism designed to do work
• Link classification:
 Ground: any link or links that are fixed, nonmoving with

respect to the reference frame
 Crank: pivoted to ground, makes complete revolutions
 Rocker: pivoted to ground, has oscillatory motion
 Coupler: link has complex motion, not attached to ground
crank mechanism
Elements:
0: Ground (Casing, Frame)
1: Rocker
2: Coupler
3: Crank
The “Ground” Link
 When studying mechanisms it is very helpful to establish a fixed

reference frame by assigning one of the links as “ground”.
 The motion of all other links are described with respect to the
ground link.
 For example, a fourbar mechanism often looks like a 3-bar

mechanism, where the first “bar” is simply the ground link.
Drawing kinematic Diagrams
Determining Degrees of Freedom
Determining Degrees of Freedom
Two unconnected links: 6 DOF

(each link has 3 DOF)
When connected by a full joint: 4 DOF

(each full joint eliminates 2 DOF)
Gruebler’s equation for planar mechanisms: DOF = 3L-2J-3G

Where:
L: number of links
J: number of full joints
G: number of grounded links
Determining DOF’s
• Gruebler’s equation for planar mechanisms
M= 3L-2J-3G
• Where
M = degree of freedom or mobility
L = number of links
J = number of full joints (half joints count as 0.5)
G = number of grounded links =1
M  3  L  1  2 J
Kutzbach’s modification of Gruebler’s equation
The Cylindrical (cylindric) joint - two
degrees of freedom
It permits both angular rotation and an
independent sliding motion (C joint)
The Spherical (spheric) - Three degree
of freedom
It permits rotational motion about all three
axes, a ball-and-socket joint (S joint)
Example
Example
Gruebler’s Equation
Gruebler’s equation can be used to L = 2

determine the mobility of planar J = 1
mechanisms. G = 1
Link 1 DOF = 1
3 DOF
Gruebler’s Equation
DOF = mobility
L = number of links 1 DOF
J = number of revolute joints or
prismatic joints
G = number of grounded links
DOF (M) = 3*L – 2* J – 3 *G Link 2

= 3 (L-1) – 2 * J 3 DOF
Dr. Anwar Abu-Zarifa . Islamic University of Gaza . Department of Mechanical Engineering . © 2012
Mobility of Vise Grip Pliers
This example applies Gruebler’s equation to
the determine the mobility of a vise grip plier.
Each revolute joint
removes two DOF.
The screw joint
4 1 5 removes two DOF.
1
3 L=5
4 2 J = 4 (revolute)
3 2 J = 1 (screw)
G = 1 (your hand)
DOF = 3*5 - 2*5 - 1*3 = 2
The mobility of the plier is two. Link 3 can be moved relative link1 when
you squeeze your hand and the jaw opening is controlled by rotating
link 5.
Dr. Anwar Abu-Zarifa . Islamic University of Gaza . Department of Mechanical Engineering . © 2012
Punch Press
Slider-Crank Mechanism
Joint
Formed between links Joint type
As designated in the figure, there are four Number
links link 1, link 2, link 3 and link 4. Link 1 Revolute
1 Link 4 and Link 1
acts as a crank. Link 2 acts as (or Pin)
connecting link, link 3 is the slider and Revolute
2 Link 1 and Link 2
link 4 is ground. (or Pin)
Revolute
3 Link 2 and Link 3
(or Pin)
Translatio
4 Link 3 and Link 4 nal or
(Slider)
Mechanisms and Structures
 If DOF > 0, the assembly of links is a mechanism and will

exhibit relative motion
 If DOF = 0, the assembly of links is a structure and no motion

is possible.
 If DOF < 0,then the assembly is a preloaded structure, no

motion is possible, and in general stresses are present.
Paradoxes
• Greubler criterion does not include geometry, so it
can give wrong prediction
• We must use inspection
L=5
J=6
E-quintet
G=1
M=3*5-2*6-3*1=0
Rolling cylinders even without slip (The joint between the two wheels can be
postulated to allow no slip, provided that sufficient friction is available) is an
example in which the ground link is exactly the same length as the sum of two
other links.
If no slip occurs, then this is a one-freedom, or full, joint that allows only
relative angular motion (Δθ) between the wheels.
With that assumption, there are 3 links and 3 full joints,
The equation predicts DOF = 0 (L=3,
J1=3), but the mechanism has DOF = 1.
Others paradoxes exist, so

the designer
must not apply the equation
blindly.

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Theory of Machines

Instructor: Dr. Anwar Abu-Zarifa

MON 09:30 – 11:00 Q412

 John J. Uicker, Gordon R. Pennock, Joseph E. Shigley, Theory of Machines

The course provides students with instruction in the fundamentals of theory of

Students combine theory, graphical and analytical skills to understand

 To develop the ability to analyze and understand the dynamic

The subject Theory of Machines may be defined as that branch of

Kinematics: The study of motion without regard to forces

More particularly, kinematics is the study of position, displacement,

A mechanism: is a device that transforms motion to some desirable pattern

A machine: typically contains mechanisms that are designed to provide

Bicycle is a simple example of a kinematic system that contains a chain drive

the transmission is full of gears….

• DOF: Number of independent parameters

• Pure rotation: the body possesses one point (center

• Links: rigid member having nodes

A more useful means to classify joints (pairs) is by the

• Type of contact: line, point, surface

Joint order = number of links-1

The six lower pairs

Form closed (closed by

 A joint (also called kinematic pair) is a connection between two or

 Ground: any link or links that are fixed, nonmoving with

 When studying mechanisms it is very helpful to establish a fixed

 For example, a fourbar mechanism often looks like a 3-bar

Two unconnected links: 6 DOF

When connected by a full joint: 4 DOF

Gruebler’s equation for planar mechanisms: DOF = 3L-2J-3G

Gruebler’s equation can be used to L = 2

DOF (M) = 3*L – 2* J – 3 *G Link 2

DOF = 3*5 - 2*5 - 1*3 = 2

 If DOF > 0, the assembly of links is a mechanism and will

 If DOF = 0, the assembly of links is a structure and no motion

 If DOF < 0,then the assembly is a preloaded structure, no

Others paradoxes exist, so

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DOF (M) = 3L – 2 J – 3 *G Link 2

DOF = 35 - 25 - 1*3 = 2